A modular drive control device for a combined liquid-cooled magnetic microrobot

Abstract

The present invention relates to a modular, liquid-cooled magnetic microrobot drive control device, comprising: a mounting base; an assembly frame in the form of a cube; electromagnetic coil modules disposed on the six faces of the assembly frame, the six electromagnetic coil modules forming a robot's workspace within the six electromagnetic coil modules; the electromagnetic coil modules comprising an electromagnetic coil, an outer shell, and an inner shell; the electromagnetic coil disposed on the inner shell, the outer shell housing the inner shell; and a current signal passing through the electromagnetic coil to generate a magnetic field that drives the robot's movement. The drive control device of the present invention cleverly designs six independent magnetic control units, making the entire magnetic control system more convenient and easy to assemble and disassemble. After entering the magnetic control system, the coolant is distributed throughout the cooling chamber, the cooling layer, and the interlayer between the electromagnetic coil surface and the outer shell, uniformly and comprehensively covering the coil portion. This design maximizes the water cooling effect.

Description

Technical Field

[0001] The present invention relates to the technical field of microrobots, and in particular to a modular drive control device for a combined liquid-cooled magnetic microrobot. Background Art

[0002] Due to their tiny structure and controllable motion and navigation capabilities, microrobots offer advantages over actuators such as robotic arms, such as increased flexibility and compact size. They can reach locations beyond the reach of traditional machines and complete tasks requiring high difficulty, high precision, and limited space. Magnetic control systems are the optimal method for controlling these robots. Magnetic control has been widely applied in many fields, including targeted drug delivery, targeted cargo transport, and cell separation. Further promoting magnetic control requires the development of low-cost, high-precision, and fast-dissipating magnetic control systems.

[0003] The performance of the magnetic microrobot drive control system includes the following aspects:

[0004] 1. Response speed: The response speed of a magnetic drive control system refers to the system's response speed to external control signals, usually expressed as a time constant. The response speed directly affects the control accuracy and responsiveness of the magnetic drive system.

[0005] 2. Control Accuracy: The control accuracy of a magnetic drive control system refers to the accuracy of the movement of magnetic particles in a magnetic field, usually expressed as the root mean square value of the velocity error. The level of control accuracy directly affects the application range and accuracy requirements of the magnetic drive system.

[0006] 3. Driving Force: The driving force of a magnetic drive control system refers to the magnetic field force exerted by the system on the magnetic particles. It is usually expressed as the acceleration of the system on the magnetic particles per unit time. The level of driving force directly affects the speed and application range of the magnetic drive system.

[0007] 4. Stability: The stability of a magnetic drive control system refers to the system's ability to resist external interference and noise, as well as the system's own stability. It is usually expressed by the system's stability index. The level of stability directly affects the reliability and efficiency of the magnetic drive system.

[0008] 5. Low cost: It means that the money required to produce a magnetic spiral robot of the same structural size is as low as possible.

[0009] 6. Aesthetics: The preparation system is overall beautiful, without obvious flaws, scars, or damage, with neat wiring, strong and durable, and a certain sense of technology.

[0010] There are three main methods for existing magnetic control systems to drive robots:

[0011] 1. Directly manipulate the permanent magnet or magnet through a drive device or a robotic arm to perform the mechanical movement in the program. The magnetic field generated is the specific magnetic field generated by the permanent magnet during the mechanical movement.

[0012] 2. Assemble the Helmholtz coil and Maxwell coil into a ring-shaped structure. By passing AC or DC signals into the coils, the Helmholtz coil generates a constant or rotating magnetic field, and the Maxwell coil generates a gradient magnetic field. By changing the amplitude and frequency of the electrical signal, the superposition of the two magnetic fields produces the required combination ratio, thereby achieving the purpose of controlling the robot.

[0013] 3. Only the Helmholtz coil is used and improved, changing it from the original circular coil to a square coil, which can significantly increase the available working environment of the magnetic control system.

[0014] Currently, the three methods mentioned above are used on a large scale to drive magnetic control system robots. Although they do provide certain conveniences, they also have some disadvantages, which are listed below:

[0015] 1. Using a robotic arm to manipulate a permanent magnet for mechanical motion requires that electrical signals first reach the robotic arm's system and then be compiled by the system before feedback output can be generated. This creates a time delay. Furthermore, in the high-speed movement of micro-scale robots, the magnitude and direction of the magnetic field must be more precise. However, the delayed output characteristics of the robotic arm may not achieve high-precision control, resulting in low flexibility and operability, making it difficult to control the motion of the permanent magnet.

[0016] 2. When combining Helmholtz coils and Maxwell coils, the size of the coils and the distance between each turn must be considered. These crucial physical properties determine the basic shape of the coil-based magnetic control system when it is packaged. If the outer packaging is too large, the spacing between adjacent coils will become excessive, reducing the magnetic field strength generated by the coils. The weak electrical signal generated may not be sufficient to generate a sufficient magnetic field. To ensure control of the magnetic field strength, the outer packaging must be reduced, which reduces the available working environment and creates a tighter space. If a coil fuses during operation, it will become difficult to handle.

[0017] 3. Current microrobot magnetic control systems require a large number of coils wound around support columns to generate a sufficient magnetic field. As the coils are used as packaging for resistance wires, heating will inevitably occur when current passes through the resistance wires. A support column in a magnetic control system may need to be wound with hundreds or thousands of turns of coils. Even a weak current will generate a large amount of heat in a short period of time after passing through the coils. Small magnetic control systems have difficulty effectively dissipating heat in a short period of time, resulting in a continuous accumulation of heat. Therefore, existing magnetic control systems often have to shut down to dissipate heat after only a few minutes of operation, otherwise they will cause irreversible thermal breakdown and damage to the precision components in the system.

[0018] In addition, in terms of magnetic microrobot drive control: magnetic microrobot drive control platforms are usually divided into permanent magnet-based platforms and electromagnet-based platforms. Since permanent magnets cannot provide complex, diverse and flexible controllable magnetic fields, electromagnet-based magnetic control platforms are usually used in targeted medical fields. However, in order to maximize the magnetic control space while saving materials, reducing volume and floor space, the heat dissipation link of most electromagnet magnetic control platforms adopts a heat dissipation system with air as the heat dissipation medium. However, this design scheme brings about the problem of excessive system heat during operation and relatively insufficient heat dissipation area.

[0019] Liquids have far greater heat capacity and thermal conductivity than gases, resulting in superior cooling performance. This allows the system to maintain a low temperature rise, extending operating life and improving material utilization. However, liquid cooling technology is generally complex, requiring specific cooling fluid flow paths and components, as well as the need to prevent coolant leakage, which increases the requirements for system operation and maintenance. Summary of the Invention

[0020] To this end, the present invention provides a liquid-cooled, heat-dissipating optimized magnetic drive platform to extend the service life of the coil and enhance the working performance of the coil; at the same time, it overcomes the problem that the heat dissipation link of most magnetic control platforms in the prior art adopts a heat dissipation system using air as the heat dissipation medium. However, this design scheme causes excessive heat generation in the system during operation, while the heat dissipation area is relatively insufficient, and the system must be shut down for short intervals to dissipate heat.

[0021] To address the above technical problems, the present invention provides a modular, liquid-cooled magnetic microrobot drive control device, comprising: a mounting base serving as a support component for the drive control device; an assembly frame fixedly mounted on the mounting base, the assembly frame being a cube-shaped frame; and six electromagnetic coil modules, each mounted on six sides of the assembly frame. The six electromagnetic coil modules define a robot's workspace. The electromagnetic coil modules comprise an electromagnetic coil, an outer shell, and an inner shell. The electromagnetic coil is mounted on the inner shell, the outer shell housing the inner shell, and a current signal is applied to the electromagnetic coil to generate a magnetic field that drives the robot. The modular, liquid-cooled magnetic microrobot drive control device of the present invention reduces the size of the device housing and simplifies installation, ensuring convenient assembly and disassembly of the magnetic control system and resolving the difficulty of handling a blown electromagnetic coil. By increasing the heat dissipation area, the device improves the heat removal efficiency of the entire system, enabling the magnetic control system to operate for extended periods and addressing thermal breakdown and damage. The device is assembled from multiple independent electromagnetic coil modules, with the overall magnetic control system forming a cube-like structure. The electromagnetic system is composed of six electromagnetic coil modules with the same structure, which are spliced in pairs. They are electromagnetic coil modules relative to each other in the XYZ three axes, and each electromagnetic coil module constitutes a side of the cube structure of the magnetic control system; the electromagnetic coil module is composed of an electromagnetic coil shell and an electromagnetic coil inside the shell. The electromagnetic coil shell is divided into an outer shell and an inner shell. The inner support cylinder is located at the connection between the two side panels of the inner shell, and the height of the inner support column is set to half the difference in side length between the upper base plate and the lower base plate of the inner shell.

[0022] In one embodiment of the present invention, the inner shell includes a mounting plate 1, a mounting plate 2, a partition plate, an inner support tube, an outer support tube, a coolant inlet and a coolant outlet, the mounting plate 1, the mounting plate 2 and the partition plate are arranged in parallel, the mounting plate 1 and the mounting plate 2 are respectively connected to the two end surfaces of the inner support tube in the axial direction, the outer support tube is sleeved on the outside of the inner support tube, and the inner support tube and the outer support tube are coaxially arranged, one end surface of the outer support tube in the axial direction is fixedly connected to the mounting plate 1, and the other end surface of the outer support tube in the axial direction is connected to the partition plate, and the length of the outer support tube in the axial direction is less than that of the inner support tube The length of the support tube in the axial direction, the inner cooling cavity is between the inner support tube and the outer support tube, the coolant inlet and the coolant discharge port are both arranged on the mounting plate 2, the coolant inlet is connected with the inner cooling cavity, and the coolant inlet is used for the coolant to enter, the outer shell is respectively connected with the mounting plate 1 and the mounting plate 2, the cavity enclosed by the outer shell, the mounting plate 1 and the partition plate is the outer cooling cavity, the electromagnetic coil is wound on the outer wall of the outer support tube, and the electromagnetic coil is in the outer cooling cavity, the coolant discharge port is connected with the outer cooling cavity, and the coolant discharge port is used for the coolant to be discharged.

[0023] In one embodiment of the present invention, the partition plate is located between mounting plate one and mounting plate two, and the partition plate is arranged on a side close to mounting plate two. A cooling partition layer is provided between the partition plate and mounting plate two. The cooling partition layer, the inner cooling cavity and the outer cooling cavity are all connected. The electromagnetic coil is located between mounting plate one and the partition plate.

[0024] In one embodiment of the present invention, a liquid inlet channel is provided at the connection position between the coolant inlet and the second mounting plate, and the liquid inlet channel is tapered.

[0025] In one embodiment of the present invention, a liquid inlet guide plate is provided on the end surface opposite to the second mounting plate of the partition plate, the liquid inlet guide plate is arranged in an arc shape, and the two ends of the liquid inlet guide plate are fixedly connected to the outer wall of the inner support tube extending out of one end of the outer support tube, a liquid inlet hole is formed between the liquid inlet guide plate and the outer wall of the inner support tube, the liquid inlet channel and the liquid inlet hole are connected, and the liquid inlet hole and the inner cooling cavity are connected.

[0026] In one embodiment of the present invention, a through hole 1 is provided at the center position of the partition plate, the diameter of the through hole 1 is larger than the diameter of the outer wall of the inner support tube, and a plurality of intermediate support beams are provided between the inner wall of the through hole 1 and the outer wall of the inner support tube. The plurality of intermediate support beams divide the gap between the partition plate and the inner support tube into a plurality of guide holes, and the inner cooling cavity is connected to the cooling interlayer through the plurality of guide holes.

[0027] In one embodiment of the present invention, the mounting plate one and the mounting plate two are both square plates, and the area of the mounting plate one is smaller than that of the mounting plate two, the partition plate is a square plate with four rounded corners, the area of the partition plate is larger than that of the mounting plate one and smaller than that of the mounting plate two, the cross-sections of the inner support tube and the outer support tube are both square rings with four rounded corners, and the mounting plate one, the mounting plate two, the partition plate, the inner support tube and the outer support tube are coaxially arranged.

[0028] In one embodiment of the present invention, the outer shell is composed of four trapezoidal plates of the same structure, and the cross-section of the trapezoidal plates is an isosceles trapezoid. The four trapezoidal plates of the same structure form a pyramid shape, the upper bottom of the trapezoidal plate is connected to the edge of the mounting plate one, and the lower bottom of the trapezoidal plate is connected to the edge of the mounting plate two, and a gap is left between the partition plate and the trapezoidal plate to connect the cooling partition and the external cooling cavity.

[0029] In one embodiment of the present invention, there is through hole 2 at the center of the mounting plate 1, and through hole 3 at the center of the mounting plate 2. The two ends of the inner support tube in the axial direction are fixedly connected to the inner walls of through hole 2 and through hole 3 respectively, and the hollow area inside the inner support tube forms an observation window.

[0030] In one embodiment of the present invention, the diameter of the electromagnetic coil gradually increases from the first mounting plate to the second mounting plate, and a waterproof coating is provided on the electromagnetic coil.

[0031] The above technical solution of the present invention has the following advantages over the prior art:

[0032] The combined liquid-cooled magnetic microrobot modular drive control device described in the present invention cleverly designs 6 independent magnetic control units, making the entire magnetic control system more convenient and easy to assemble and disassemble; after the coolant enters the magnetic control system, it will be distributed in the cooling cavity, the cooling layer and the interlayer between the surface of the electromagnetic coil and the outer shell, and can relatively evenly and comprehensively cover the coil part. This design maximizes the water cooling effect as much as possible; the structure of the magnetic control unit is cleverly designed, and the water outlet and water inlet are respectively distributed at the corners and the middle, so that the coolant can flow out after filling each gap, thereby taking away as much heat as possible generated by the electromagnetic coil during operation; the shell part of the magnetic control system adopts a sealed splicing method of directly splicing the inner shell and the outer shell, which facilitates the assembly of the system and the replacement of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0034] Figure 1This is a schematic diagram of the overall structure of the combined liquid-cooled magnetic microrobot modular drive control device of the present invention;

[0035] Figure 2 This is an exploded view of the modular drive control device for a combined liquid-cooled magnetic microrobot according to the present invention;

[0036] Figure 3 is a cross-sectional view of the electromagnetic coil module of the present invention;

[0037] Figure 4 is an exploded view of the electromagnetic coil module of the present invention;

[0038] Figure 5 This is a schematic diagram of the external structure of the electromagnetic coil module of the present invention. Figure 1 ;

[0039] Figure 6 This is a schematic diagram of the external structure of the electromagnetic coil module of the present invention. Figure 2 ;

[0040] Figure 7 The electromagnetic coil module of the present invention is decomposed Figure 1 ;

[0041] Figure 8 It is a structural schematic diagram of the inner shell of the present invention;

[0042] Figure 9 This is a cross section of the inner shell of the present invention Figure 1 ;

[0043] Figure 10 This is a cross section of the inner shell of the present invention Figure 2 ;

[0044] Figure 11 It is a partial structural schematic diagram of the inner shell of the present invention;

[0045] Figure 12 is the cross section of the inner shell of the present invention Figure 1 ;

[0046] Figure 13 is the cross section of the inner shell of the present invention Figure 2 ;

[0047] Figure 14 The explosion of the inner shell of the present invention Figure 1 ;

[0048] Figure 15 The explosion of the inner shell of the present invention Figure 2 ;

[0049] Figure 16 The electromagnetic coil module of the present invention is decomposed Figure 2 ;

[0050] Figure 17 It is a schematic diagram of the water cooling of the present invention;

[0051] Figure 18 It is a schematic diagram of the modular drive control device of the combined liquid-cooled magnetic microrobot of the present invention.

[0052] Explanation of the reference numerals in the specification: mounting base 1, assembly frame 2, electromagnetic coil module 3, electromagnetic coil 31, outer shell 32, trapezoidal plate 321, inner shell 33, mounting plate one 331, through hole two 3311, mounting plate two 332, through hole three 3321, wire interface 3322, partition plate 333, liquid inlet guide plate 3331, liquid inlet hole 3332, through hole one 3333, intermediate support beam 3334, guide hole 3335, inner support tube 334, outer support tube 335, coolant inlet 336, liquid inlet channel 3361, coolant outlet 337, inner cooling cavity 338, outer cooling cavity 339, cooling partition 3310, working space 4. DETAILED DESCRIPTION

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0054] Reference Figure 1-4As shown, the combined liquid-cooled magnetic microrobot modular drive control device of the present invention includes: a mounting base 1, which serves as a supporting component of the drive control device; an assembly frame 2, which is fixedly arranged on the mounting base 1, and the assembly frame 2 is a cube frame; six electromagnetic coil modules 3, which are respectively arranged on the six faces of the assembly frame 2, and the six electromagnetic coil modules 3 constitute a hexahedral structure. The six electromagnetic coil modules 3 form a robot's working space 4 inside, and the electromagnetic coil module 3 includes an electromagnetic coil 31, an outer shell 32 and an inner shell 33. The electromagnetic coil 31 is arranged on the inner shell 33, and the outer shell 32 covers the inner shell 33. The electromagnetic coil 31 is passed with a current signal to generate a magnetic field to drive the robot to move. The inner shell of each magnetron unit has an upper surface with a side length of 96mm, a lower surface with a side length of 150mm, and a height of 27mm. The lower surface of the middle partition of the inner shell is a rounded square with a side length of 130mm and a corner radius of 45mm. The thickness of the cooling layer and cooling cavity is 4mm. The inner support tube is a rounded square with a side length of 56mm and a corner radius of 15mm. The average thickness of the outer shell and inner shell is 3mm. The cube structure formed by splicing the six independent units has a side length of 155mm. The six independent units are fixed inside the external bracket. The external bracket is divided into an upper fixed shell and a lower four-legged fixed frame. The shell portion of the upper fixed shell that serves as a fixing means is square, with a side length of 165mm (allowing for a 2mm installation error) and a height of 5mm. At the same time, eight beams extend from the four corners of the upper fixed shell to provide support points for nesting it on the lower four-legged fixed frame. The lower four-legged frame consists of a four-legged base and eight side beams that serve as anchors. The side beams are 163mm long, L-shaped, and have an average thickness of 4mm. The overall structure is elegant and practical.

[0055] The entire magnetic control device consists of six independent electromagnetic coil modules and a connecting skeleton structure. The electromagnetic coil module, as the basic unit, consists of an electromagnetic coil housing and an electromagnetic coil housed within it. The electromagnetic coil housing in the electromagnetic coil module consists of two parts: an outer housing and an inner housing. These two housings are joined to form the basic housing of each magnetic control unit.

[0056] The electromagnetic coils are wound around the inner unit support columns and positioned at six locations along the X, Y, and Z axes within the overall space of the outer body. These six electromagnetic coils are capable of generating magnetic fields that drive and control the magnetic robot in three directions within the workspace in response to current signals. A more specific control method is as follows: two coaxially opposed electromagnetic coils in the six X, Y, and Z axes are combined as a coil group. The same current signal is fed into each coil group. The magnetic fields generated by these coil groups are the base magnetic fields along the X, Y, and Z axes, respectively. By simply varying the specific values of the three base axis components, a magnetic field of a specific field strength in any direction can be generated. Therefore, by feeding specific current signals into each of the three coil groups, flexible control of the magnetic robot and the generation of a controllable magnetic field are achieved. The smaller the distance between the electromagnetic coils, the larger the magnetic field generated within the workspace. This design allows for a larger variable magnetic field, meeting the needs of robots operating on larger scales.

[0057] In order to achieve the stability of the splicing between the shell parts of the electromagnetic coil module, a glue sealing groove is left at the splicing line of the outer shell and the inner shell, and hot melt glue or strong glue is applied in the groove at the edge connection to ensure that the internal space composed of the inner and outer shells remains sealed.

[0058] Reference Figure 5-16As shown, the inner shell 33 includes a mounting plate 1 331, a mounting plate 2 332, a partition plate 333, an inner support tube 334, an outer support tube 335, a coolant inlet 336 and a coolant outlet 337, and the mounting plate 2 332 is provided with a wire interface 3322. The mounting plate 1 331, the mounting plate 2 332 and the partition plate 333 are arranged in parallel, and the mounting plate 1 331 and the mounting plate 2 332 are respectively connected to the two end faces of the inner support tube 334 in the axial direction, and the outer support tube 335 is sleeved on the outside of the inner support tube 334, and the inner support tube 334 and the outer support tube 335 are coaxially arranged, one end face of the outer support tube 335 in the axial direction is fixedly connected to the mounting plate 1 331, and the other end face of the outer support tube 335 in the axial direction is connected to the partition plate 333, and the outer support tube 335 in the axial direction is fixedly connected to the mounting plate 1 331. The length is smaller than the length in the axial direction of the inner support tube 334. An inner cooling cavity 338 is formed between the inner support tube 334 and the outer support tube 335. The coolant inlet 336 and the coolant outlet 337 are both arranged on the mounting plate 2 332. The coolant inlet 336 is connected to the inner cooling cavity 338, and the coolant inlet 336 is used for the entry of coolant. The outer shell 32 is respectively connected to the mounting plate 1 331 and the mounting plate 2 332. The cavity enclosed by the outer shell 32, the mounting plate 1 331 and the partition plate 333 is the outer cooling cavity 339. The electromagnetic coil 31 is wound on the outer wall of the outer support tube 335, and the electromagnetic coil 31 is in the outer cooling cavity 339. The coolant outlet 337 is connected to the outer cooling cavity 339, and the coolant outlet 337 is used for the discharge of coolant.

[0059] The design of the inner shell is relatively complex, with several cooling layers (cooling cavities), support beams, and support tubes designed inside. The hollow portion of the support tube can be used as an observation window; the interlayer between the inner and outer support tubes constitutes the cooling cavity; and the interlayer between the outer baffle and the middle partition constitutes the cooling layer. One water inlet channel and three water outlet channels are left on the middle partition. The coolant enters the cooling cavity through a pump and fully contacts the surfaces of each partition to ensure the heat dissipation performance of the magnetic control system. The coolant then flows out of the three outlets into the cooling layer. At the same time, the coolant can flow into the gap between the coil body and the outer shell, and finally the coolant is discharged from the coolant outlet.

[0060] The electromagnetic coil is attached to the surface of the outer support tube. By applying a specific current signal to the electromagnetic coil, the electromagnetic coil can be stimulated to generate a magnetic field of any direction and specific strength. The magnetic field can control the magnetic robot in the workspace and drive the robot to rotate and displace at a specific angle, thereby achieving the application function of the magnetic control device. Two through holes connected to the cooling chamber are provided on the inner unit, which are the coolant inlet and the coolant outlet. The coolant inlet is at the edge of the support tube, and the coolant outlet is at the edge of the outer baffle. Since the cooling chamber is located between the inner support column and the outer support column, the electromagnetic coil and the cooling chamber are separated only by the outer support tube.

[0061] Coolant is introduced into the cooling inlet, serving as a heat dissipation medium for the electromagnetic coil core. The coolant covers the cooling cavity, the cooling layer, and the barrier between the outer shell and the coil surface. This structural design significantly increases the contact area with the electromagnetic coil, accelerating heat dissipation and reducing the magnitude and speed of temperature fluctuations around the electromagnetic coil core, significantly enhancing the reliability and stable operating time of the magnetic control system.

[0062] In the above structure, the partition plate 333 is located between the mounting plate 1 331 and the mounting plate 2 332, and the partition plate 333 is arranged on one side close to the mounting plate 2 332. A cooling partition layer 3310 is provided between the partition plate 333 and the mounting plate 2 332. The cooling partition layer 3310, the inner cooling cavity 338 and the outer cooling cavity 339 are all connected. The electromagnetic coil 31 is located between the mounting plate 1 331 and the partition plate 333.

[0063] In the above structure, a liquid inlet channel 3361 is provided at the connection position between the coolant inlet 336 and the second mounting plate 332, and the liquid inlet channel 3361 is arranged in a conical shape. The lower end of the coolant inlet is designed to be a flat funnel. Because the thickness of the cooling cavity is relatively small, such a funnel structure can allow the coolant to enter the cooling cavity more evenly, achieving a good heat dissipation effect. In addition, the outer diameter surface of the cylinder wall of the coolant inlet and outlet is designed similar to a "barb". When a hose is used to transport the coolant, the hose can be firmly placed on the two coolant inlets and outlets to prevent the hose from slipping suddenly due to gravity or other factors. However, when pulling out the hose, this structure will cause the lower end of the coolant inlet and outlet to be subjected to greater resistance. In order to prevent the lower end of the coolant inlet and outlet from breaking, we designed a chamfered structure to disperse the structural force and enhance the breaking strength of the lower end of the coolant inlet and outlet.

[0064] In the above structure, a liquid inlet guide plate 3331 is provided on the end face opposite to the partition plate 333 and the mounting plate 2 332. The liquid inlet guide plate 3331 is arranged in an arc shape, and the two ends of the liquid inlet guide plate 3331 are fixedly connected to the outer wall of one end of the outer support tube 335 extending from the inner support tube 334. A liquid inlet hole 3332 is formed between the liquid inlet guide plate 3331 and the outer wall of the inner support tube 334. The liquid inlet channel 3361 is connected to the liquid inlet hole 3332, and the liquid inlet hole 3332 is connected to the inner cooling cavity 338.

[0065] In the above structure, a through hole 3333 is provided at the center position of the partition plate 333, the diameter of the through hole 3333 is larger than the diameter of the outer wall of the inner support tube 334, and a plurality of intermediate support beams 3334 are provided between the inner wall of the through hole 3333 and the outer wall of the inner support tube 334. The plurality of intermediate support beams 3334 divide the gap between the partition plate 333 and the inner support tube 334 into a plurality of guide holes 3335, and the inner cooling cavity 338 is connected to the cooling partition 3310 through the plurality of guide holes 3335.

[0066] In the above structure, both mounting plate 1 331 and mounting plate 2 332 are square plates, with the area of mounting plate 1 331 being smaller than that of mounting plate 2 332. The partition plate 333 is a square plate with rounded corners. The area of the partition plate 333 is larger than that of mounting plate 1 331 and smaller than that of mounting plate 2 332. The cross-sections of the inner support tube 334 and outer support tube 335 are both square rings with rounded corners. Mounting plate 1 331, mounting plate 2 332, partition plate 333, inner support tube 334, and outer support tube 335 are coaxially arranged. The support tube has a rounded square body. Simulations have shown that this structure provides a reasonable curvature, allowing for a larger workspace while still maintaining the required driving and control capabilities for the magnetic robot. Furthermore, because the support tube is hollow, the hollow portion serves as an observation hole, large enough to allow an arm to reach in for picking up and placing objects, and also to observe the movement of the magnetic robot within the workspace.

[0067] In the above structure, the outer shell 32 is composed of four trapezoidal plates 321 of the same structure, and the cross-section of the trapezoidal plates 321 is an isosceles trapezoid. The four trapezoidal plates 321 of the same structure are arranged in a pyramid shape. The upper bottom of the trapezoidal plate 321 is connected to the edge of the mounting plate 1 331, and the lower bottom of the trapezoidal plate 321 is connected to the edge of the mounting plate 2 332. A gap is left between the partition plate 333 and the trapezoidal plate 321 to connect the cooling partition 3310 and the external cooling cavity 339.

[0068] In the above structure, the center of the mounting plate 1 331 is provided with a through hole 2 3311, the center of the mounting plate 2 332 is provided with a through hole 3321, and the two ends of the inner support tube 334 in the axial direction are fixedly connected to the inner walls of the through hole 2 3311 and the through hole 3 3321 respectively, and the hollow area inside the inner support tube 334 forms an observation window 3341.

[0069] In the above structure, the diameter of the electromagnetic coil 31 gradually increases from mounting plate 1 331 to mounting plate 2 332, and the electromagnetic coil 31 is provided with a waterproof coating. The enameled wire is generally wound in layers on the support tube in a wedge-shaped slope, fully utilizing the winding space of the outer support tube. More coils will also generate a larger magnetic field. In addition, the enameled wires are filled with thermal grease. A layer of thermal grease with a thermal conductivity coefficient of 5.0 is applied when every 40-50 turns of enameled wire with a diameter of 0.38 mm is wound. The thermal grease increases the thermal conductivity, and the heat generated by the inner layer of enameled wire can be quickly transferred to the outer layer through the thermal grease. Each magnetic control unit is wound with approximately 500 turns of enameled wire. The outermost layer of the enameled wire is coated with a layer of waterproof thermally conductive silicone, which plays a waterproof and heat-conducting role, preventing coolant from penetrating the interior of the electromagnetic coil and preventing the outer layer of the enameled wire from hydrolyzing. The heat generated by the entire electromagnetic coil is transferred to the outermost layer and then carried away by the coolant.

[0070] Reference Figure 17 As shown, a water-cooling module is used, consisting of a water pump, heat sink, and cooling fan. The water pump circulates coolant between the device and the heat sink. As the coolant reaches the heat sink, it is cooled by the cooling fan. The treated low-temperature coolant is then pumped into the device's cooling chamber, where it absorbs heat generated during operation of the electromagnetic coil core, cooling the coil core and achieving rapid heat conduction and dissipation.

[0071] Reference Figure 18As shown, this device is used to drive a magnetic robot, using an external host computer as the control system's mainframe. The host computer displays the human-machine interface and data visualization. The host computer primarily uses a magnetic control program written in Labview and a USB motion capture program. A USB camera captures the robot's dynamic images, which are then converted into digital images and transmitted back to the host computer. Furthermore, the magnetic control system utilizes a DAQ board, which controls signal generation and transmission. The current signal input to each electromagnet can be independently controlled and adjusted. A power amplifier is provided to further amplify the control signal and connect it to each electromagnetic coil core, enabling the electromagnet to generate a dynamic or static magnetic field on a specific driving plane. The interaction of multiple energized electromagnetic coil cores generates a composite magnetic field in a specific direction within the workspace. This composite magnetic field can be used to drive the magnetic robot within the workspace to rotate or slide in any direction within the plane. Furthermore, a water cooling module allows for rapid heat exchange with the electromagnetic coil cores, reducing the device's operating temperature.

[0072] The process of using the device of the present invention to drive and control the magnetic robot is as follows:

[0073] 1. Initialize the system and place the prepared magnetic robot into the working space of this device;

[0074] 2. Set up a camera on the top of the device to observe the position of the magnetic robot. Turn on the top camera and move the camera position to adjust the imaging field of view. Use the camera to initially locate the magnetic robot position. Select a working area where you want the robot to move and turn, and locate this area at the center of the camera's field of view.

[0075] 3. Connect the magnetic control system to the water cooling module, fill the cooling chamber of the device with coolant through a water pump, and then connect the water pump to the heat sink so that the coolant forms a flow loop between the device and the heat sink;

[0076] 4. Connect the six electromagnetic coil modules to the output terminals of the power amplifier module, connect the DAQ board signal output terminal to the input terminal of the power amplifier module, and turn on the power supply;

[0077] 5. Open the host computer control software of this system, start the program and access the operation module on the host computer;

[0078] 6. First adjust the maximum value of the output signal to prevent the electromagnetic coil from burning due to excessive current, and start the signal output function of the host computer;

[0079] 7. Based on the position of the magnetic robot in the field of view, the operating module is controlled to generate six specific voltage signals from the host computer. These voltage signals are amplified by the power amplifier and then connected to six electromagnets. The electromagnets work together to generate a dynamic magnetic field that rotates in a specific direction in space, thereby driving the magnetic robot to rotate and move.

[0080] 8. Continuously adjust the output voltage signal through the operating module to change the direction of the magnetic field in the workspace, thereby adjusting the rolling direction of the magnetic robot to achieve control of its motion behavior and path tracking control;

[0081] 9. During operation, if the required driving voltage is relatively large and the electromagnetic coil generates a lot of heat, the heat exchange between the device and the water cooling module can be accelerated by increasing the water pump power.

[0082] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A modular drive control device for a combined liquid-cooled magnetic microrobot, characterized in that: include: a mounting base, which serves as a supporting member for the drive control device; An assembly frame, which is fixedly arranged on the mounting base and is a cube frame; Six electromagnetic coil modules are provided, each of which is disposed on six sides of the assembly frame. The six electromagnetic coil modules form a working space for the robot. The electromagnetic coil modules include an electromagnetic coil, an outer shell, and an inner shell. The electromagnetic coil is disposed on the inner shell, and the outer shell covers the inner shell. A current signal is applied to the electromagnetic coil to generate a magnetic field that drives the robot to move. The inner shell includes a mounting plate 1, a mounting plate 2, a partition plate, an inner support tube, an outer support tube, a coolant inlet and a coolant outlet, the mounting plate 1, the mounting plate 2 and the partition plate are arranged in parallel, the mounting plate 1 and the mounting plate 2 are respectively connected to the two end faces in the axial direction of the inner support tube, the outer support tube is sleeved outside the inner support tube, and the inner support tube and the outer support tube are coaxially arranged, one end face in the axial direction of the outer support tube is fixedly connected to the mounting plate 1, and the other end face in the axial direction of the outer support tube is connected to the partition plate, and the length of the outer support tube in the axial direction is less than the length of the inner support tube in the axial direction length, an inner cooling cavity is formed between the inner support tube and the outer support tube, the coolant inlet and the coolant discharge port are both provided on the mounting plate 2, the coolant inlet is communicated with the inner cooling cavity, and the coolant inlet is used for coolant to enter, the outer shell is respectively connected to the mounting plate 1 and the mounting plate 2, the cavity enclosed by the outer shell, the mounting plate 1 and the partition plate is the outer cooling cavity, the electromagnetic coil is wound on the outer wall of the outer support tube, and the electromagnetic coil is in the outer cooling cavity, the coolant discharge port is communicated with the outer cooling cavity, and the coolant discharge port is used for coolant discharge; The partition plate is located between mounting plate one and mounting plate two, and is arranged on a side close to mounting plate two. A cooling partition is provided between the partition plate and mounting plate two. The cooling partition, the inner cooling cavity and the outer cooling cavity are all connected. The electromagnetic coil is located between mounting plate one and the partition plate.

2. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 1, characterized in that: A liquid inlet channel is provided at the connection position between the coolant inlet and the second mounting plate, and the liquid inlet channel is tapered.

3. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 2, characterized in that: A liquid inlet guide plate is provided on the end surface opposite to the second mounting plate of the partition plate. The liquid inlet guide plate is arranged in an arc shape, and the two ends of the liquid inlet guide plate are fixedly connected to the outer wall of the inner support tube extending out of one end of the outer support tube. A liquid inlet hole is formed between the liquid inlet guide plate and the outer wall of the inner support tube, the liquid inlet channel is connected to the liquid inlet hole, and the liquid inlet hole is connected to the inner cooling cavity.

4. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 3, characterized in that: A through hole 1 is provided at the center position of the partition plate, and the diameter of the through hole 1 is larger than the diameter of the outer wall of the inner support tube. A plurality of intermediate support beams are provided between the inner wall of the through hole 1 and the outer wall of the inner support tube. The plurality of intermediate support beams divide the gap between the partition plate and the inner support tube into a plurality of guide holes, and the inner cooling cavity is connected to the cooling interlayer through the plurality of guide holes.

5. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 4, characterized in that: The mounting plate 1 and the mounting plate 2 are both square plates, and the area of the mounting plate 1 is smaller than that of the mounting plate 2. The partition plate is a square plate with four rounded corners. The area of the partition plate is larger than that of the mounting plate 1 and smaller than that of the mounting plate 2. The cross-sections of the inner support tube and the outer support tube are both square rings with four rounded corners. The mounting plate 1, the mounting plate 2, the partition plate, the inner support tube and the outer support tube are coaxially arranged.

6. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 5, characterized in that: The outer shell is composed of four trapezoidal plates with the same structure, and the cross-section of the trapezoidal plates is an isosceles trapezoid. The four trapezoidal plates with the same structure form a pyramid shape. The upper bottom of the trapezoidal plate is connected to the edge of the first mounting plate, and the lower bottom of the trapezoidal plate is connected to the edge of the second mounting plate. A gap is left between the partition plate and the trapezoidal plate to connect the cooling interlayer and the external cooling cavity.

7. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 6, characterized in that: There is through hole 2 at the center of the mounting plate 1, and through hole 3 at the center of the mounting plate 2. The two ends of the inner support tube in the axial direction are fixedly connected to the inner walls of through hole 2 and through hole 3 respectively, and the hollow area inside the inner support tube forms an observation window.

8. The modular drive control device for a combined liquid-cooled magnetic microrobot according to claim 7, characterized in that: The diameter of the electromagnetic coil gradually increases from the first mounting plate to the second mounting plate, and a waterproof coating is provided on the electromagnetic coil.

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